all tests are passing!
lcarlone
parent
0d1c3f16ef
commit
a480b2dcfc
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@ -108,129 +108,187 @@ TEST( ProjectionFactorRollingShutter, EqualsWithTransform ) {
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}
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}
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}
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///* ************************************************************************* */
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/* ************************************************************************* */
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//TEST( ProjectionFactorRollingShutter, Error ) {
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TEST( ProjectionFactorRollingShutter, Error ) {
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// // Create the factor with a measurement that is 3 pixels off in x
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{
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// Key poseKey(X(1));
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// Create the factor with a measurement that is 3 pixels off in x
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// Key transformKey(T(1));
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// Camera pose corresponds to the first camera
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// Key pointKey(L(1));
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double t = 0.0;
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// Point2 measurement(323.0, 240.0);
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ProjectionFactorRollingShutter factor(measurement, t, model, poseKey1, poseKey2, pointKey, K);
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// ProjectionFactorRollingShutter factor(measurement, model, poseKey, transformKey, pointKey, K);
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//
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// Set the linearization point
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// // Set the linearization point
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Pose3 pose1(Rot3(), Point3(0,0,-6));
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// Pose3 pose(Rot3(), Point3(0,0,-6));
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Pose3 pose2(Rot3(), Point3(0,0,-4));
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// Point3 point(0.0, 0.0, 0.0);
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Point3 point(0.0, 0.0, 0.0);
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//
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// // Use the factor to calculate the error
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// Use the factor to calculate the error
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// Vector actualError(factor.evaluateError(pose, Pose3(), point));
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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//
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// // The expected error is (-3.0, 0.0) pixels / UnitCovariance
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// The expected error is (-3.0, 0.0) pixels / UnitCovariance
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// Vector expectedError = Vector2(-3.0, 0.0);
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Vector expectedError = Vector2(-3.0, 0.0);
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//
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// // Verify we get the expected error
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// Verify we get the expected error
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// CHECK(assert_equal(expectedError, actualError, 1e-9));
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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//}
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}
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//
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{
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///* ************************************************************************* */
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// Create the factor with a measurement that is 3 pixels off in x
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//TEST( ProjectionFactorRollingShutter, ErrorWithTransform ) {
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// Camera pose is actually interpolated now
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// // Create the factor with a measurement that is 3 pixels off in x
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double t = 0.5;
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// Key poseKey(X(1));
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ProjectionFactorRollingShutter factor(measurement, t, model, poseKey1, poseKey2, pointKey, K);
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// Key transformKey(T(1));
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// Key pointKey(L(1));
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// Set the linearization point
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// Point2 measurement(323.0, 240.0);
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Pose3 pose1(Rot3(), Point3(0,0,-8));
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// Pose3 transform(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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Pose3 pose2(Rot3(), Point3(0,0,-4));
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// ProjectionFactorRollingShutter factor(measurement, model, poseKey,transformKey, pointKey, K);
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Point3 point(0.0, 0.0, 0.0);
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//
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// // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
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// Use the factor to calculate the error
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// Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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// Point3 point(0.0, 0.0, 0.0);
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//
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// The expected error is (-3.0, 0.0) pixels / UnitCovariance
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// // Use the factor to calculate the error
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Vector expectedError = Vector2(-3.0, 0.0);
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// Vector actualError(factor.evaluateError(pose, transform, point));
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//
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// Verify we get the expected error
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// // The expected error is (-3.0, 0.0) pixels / UnitCovariance
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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// Vector expectedError = Vector2(-3.0, 0.0);
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}
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//
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{
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// // Verify we get the expected error
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// Create measurement by projecting 3D landmark
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// CHECK(assert_equal(expectedError, actualError, 1e-9));
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double t = 0.3;
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//}
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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//
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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///* ************************************************************************* */
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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//TEST( ProjectionFactorRollingShutter, Jacobian ) {
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PinholeCamera<Cal3_S2> camera(poseInterp, *K);
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// // Create the factor with a measurement that is 3 pixels off in x
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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// Key poseKey(X(1));
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Point2 measured = camera.project(point);
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// Key transformKey(T(1));
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// Key pointKey(L(1));
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// create factor
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// Point2 measurement(323.0, 240.0);
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K);
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// ProjectionFactorRollingShutter factor(measurement, model, poseKey, transformKey, pointKey, K);
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//
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// Use the factor to calculate the error
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// // Set the linearization point
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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// Pose3 pose(Rot3(), Point3(0,0,-6));
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// Point3 point(0.0, 0.0, 0.0);
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// The expected error is zero
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//
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Vector expectedError = Vector2(0.0, 0.0);
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// // Use the factor to calculate the Jacobians
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// Matrix H1Actual, H2Actual, H3Actual;
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// Verify we get the expected error
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// factor.evaluateError(pose, Pose3(), point, H1Actual, H2Actual, H3Actual);
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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//
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}
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// // The expected Jacobians
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}
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// Matrix H1Expected = (Matrix(2, 6) << 0., -554.256, 0., -92.376, 0., 0., 554.256, 0., 0., 0., -92.376, 0.).finished();
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// Matrix H3Expected = (Matrix(2, 3) << 92.376, 0., 0., 0., 92.376, 0.).finished();
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/* ************************************************************************* */
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//
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TEST( ProjectionFactorRollingShutter, ErrorWithTransform ) {
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// // Verify the Jacobians are correct
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// Create measurement by projecting 3D landmark
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// CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
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double t = 0.3;
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// CHECK(assert_equal(H3Expected, H3Actual, 1e-3));
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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//
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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// // Verify H2 with numerical derivative
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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// Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
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Pose3 body_P_sensor3(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0.2,0.1));
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// std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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PinholeCamera<Cal3_S2> camera(poseInterp*body_P_sensor3, *K);
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// std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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// std::placeholders::_1, std::placeholders::_2,
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Point2 measured = camera.project(point);
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// std::placeholders::_3, boost::none, boost::none,
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// boost::none)),
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// create factor
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// pose, Pose3(), point);
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K, body_P_sensor3);
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//
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// CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
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// Use the factor to calculate the error
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//}
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Vector actualError(factor.evaluateError(pose1, pose2, point));
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//
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///* ************************************************************************* */
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// The expected error is zero
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//TEST( ProjectionFactorRollingShutter, JacobianWithTransform ) {
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Vector expectedError = Vector2(0.0, 0.0);
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// // Create the factor with a measurement that is 3 pixels off in x
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// Key poseKey(X(1));
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// Verify we get the expected error
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// Key transformKey(T(1));
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CHECK(assert_equal(expectedError, actualError, 1e-9));
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// Key pointKey(L(1));
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}
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// Point2 measurement(323.0, 240.0);
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// Pose3 body_P_sensor(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
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/* ************************************************************************* */
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// ProjectionFactorRollingShutter factor(measurement, model, poseKey, transformKey, pointKey, K);
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TEST( ProjectionFactorRollingShutter, Jacobian ) {
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//
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// Create measurement by projecting 3D landmark
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// // Set the linearization point. The vehicle pose has been selected to put the camera at (-6, 0, 0)
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double t = 0.3;
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// Pose3 pose(Rot3(), Point3(-6.25, 0.10 , -1.0));
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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// Point3 point(0.0, 0.0, 0.0);
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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//
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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// // Use the factor to calculate the Jacobians
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PinholeCamera<Cal3_S2> camera(poseInterp, *K);
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// Matrix H1Actual, H2Actual, H3Actual;
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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// factor.evaluateError(pose, body_P_sensor, point, H1Actual, H2Actual, H3Actual);
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Point2 measured = camera.project(point);
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//
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// // The expected Jacobians
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// create factor
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// Matrix H1Expected = (Matrix(2, 6) << -92.376, 0., 577.350, 0., 92.376, 0., -9.2376, -577.350, 0., 0., 0., 92.376).finished();
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K);
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// Matrix H3Expected = (Matrix(2, 3) << 0., -92.376, 0., 0., 0., -92.376).finished();
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//
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// Use the factor to calculate the Jacobians
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// // Verify the Jacobians are correct
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Matrix H1Actual, H2Actual, H3Actual;
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// CHECK(assert_equal(H1Expected, H1Actual, 1e-3));
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factor.evaluateError(pose1, pose2, point, H1Actual, H2Actual, H3Actual);
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// CHECK(assert_equal(H3Expected, H3Actual, 1e-3));
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//
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// Expected Jacobians via numerical derivatives
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// // Verify H2 with numerical derivative
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Matrix H1Expected = numericalDerivative31<Vector, Pose3, Pose3, Point3>(
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// Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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// std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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// std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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// std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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// std::placeholders::_3, boost::none, boost::none,
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pose1, pose2, point);
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// boost::none)),
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// pose, body_P_sensor, point);
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Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
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//
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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// CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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//
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std::placeholders::_1, std::placeholders::_2,
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//
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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//}
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pose1, pose2, point);
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Matrix H3Expected = numericalDerivative33<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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CHECK(assert_equal(H1Expected, H1Actual, 1e-5));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
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CHECK(assert_equal(H3Expected, H3Actual, 1e-5));
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}
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/* ************************************************************************* */
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TEST( ProjectionFactorRollingShutter, JacobianWithTransform ) {
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// Create measurement by projecting 3D landmark
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double t = 0.6;
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Pose3 pose1(Rot3::RzRyRx(0.1, 0.0, 0.1), Point3(0,0,0));
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Pose3 pose2(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0,1));
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Pose3 poseInterp = interpolate<Pose3>(pose1, pose2, t);
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Pose3 body_P_sensor3(Rot3::RzRyRx(-0.1, -0.1, 0.0), Point3(0,0.2,0.1));
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PinholeCamera<Cal3_S2> camera(poseInterp*body_P_sensor3, *K);
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Point3 point(0.0, 0.0, 5.0); // 5 meters in front of the camera
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Point2 measured = camera.project(point);
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// create factor
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ProjectionFactorRollingShutter factor(measured, t, model, poseKey1, poseKey2, pointKey, K, body_P_sensor3);
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// Use the factor to calculate the Jacobians
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Matrix H1Actual, H2Actual, H3Actual;
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factor.evaluateError(pose1, pose2, point, H1Actual, H2Actual, H3Actual);
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// Expected Jacobians via numerical derivatives
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Matrix H1Expected = numericalDerivative31<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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Matrix H2Expected = numericalDerivative32<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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Matrix H3Expected = numericalDerivative33<Vector, Pose3, Pose3, Point3>(
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std::function<Vector(const Pose3&, const Pose3&, const Point3&)>(
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std::bind(&ProjectionFactorRollingShutter::evaluateError, &factor,
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std::placeholders::_1, std::placeholders::_2,
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std::placeholders::_3, boost::none, boost::none, boost::none)),
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pose1, pose2, point);
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CHECK(assert_equal(H1Expected, H1Actual, 1e-5));
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CHECK(assert_equal(H2Expected, H2Actual, 1e-5));
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CHECK(assert_equal(H3Expected, H3Actual, 1e-5));
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}
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/* ************************************************************************* */
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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